Self calibration of extrinsic camera parameters for a vehicle camera

a vehicle camera and camera parameter technology, applied in the field of automatic calibration of cameras, can solve the problems of inaccurate overlaid vehicle trajectory graphics on the camera image, camera system does not provide camera calibration, and the calibration technique is typically time-consuming

Active Publication Date: 2009-11-26
GM GLOBAL TECH OPERATIONS LLC
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Some known camera systems do not provide camera calibration, but revert to a default value that may provide a couple of degrees of error.
However, these calibration techni...

Method used

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  • Self calibration of extrinsic camera parameters for a vehicle camera
  • Self calibration of extrinsic camera parameters for a vehicle camera
  • Self calibration of extrinsic camera parameters for a vehicle camera

Examples

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Embodiment Construction

[0027]The following discussion of the embodiments of the invention directed to a system and method for calibrating a camera on a vehicle as the vehicle is traveling is merely exemplary in nature, and is in no way intended to limit the invention or its applications or uses. For example, the present invention calibrates a camera on a vehicle. However, as will be appreciated by those skilled in the art, the camera calibration method of the invention may have application for calibrating other cameras that may not be on a vehicle.

[0028]As discussed above, for certain camera applications, the camera images generated by the camera are overlaid with graphics, such as a vehicle path or trajectory, to help the vehicle driver navigate the vehicle. FIG. 1 is a depiction of a camera image 10 of the ground behind a vehicle (not shown) where the vehicle is backing into a parking space 12. Overlay graphic lines 14 and 16 are shown on the camera image that would be displayed to the vehicle driver on...

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Abstract

A system and method for calibrating a camera on a vehicle as the vehicle is being driven. The method includes identifying at least two feature points in at least two camera images from a vehicle that has moved between taking the images. The method then determines a camera translation direction between two camera positions. Following this, the method determines a ground plane in camera coordinates based on the corresponding feature points from the images and the camera translation direction. The method then determines a height of the camera above the ground and a rotation of the camera in vehicle coordinates.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]This invention relates generally to a system and method for calibrating a camera on a vehicle and, more particularly, to a system and method for automatically calibrating a camera on a vehicle that tracks points on the ground.[0003]2. Discussion of the Related Art[0004]Modern vehicles sometimes include one or more cameras that provide back-up assistance, take images of the vehicle driver to determining driver drowsiness or attentiveness, provide images of the road as the vehicle is traveling for collision avoidance purposes, provide structure recognition, such as roadway signs, etc. For those applications where graphics are overlaid on the camera images, it is critical to accurately calibrate the position and orientation of the camera with respect to the vehicle. Because of manufacturing tolerances, a separate end-of-line camera calibration, or aftermarket camera adjustment, must be performed on each vehicle for such th...

Claims

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Application Information

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IPC IPC(8): H04N5/222
CPCB60R1/00B60R2300/305B60R2300/402G06T2207/30264G06T2207/10016G06T2207/30261G06T7/0018G06T7/80
Inventor ZHANG, WENDEWOLSKI, MARK J.
Owner GM GLOBAL TECH OPERATIONS LLC
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